cmake_minimum_required(VERSION 3.5)
project(grid_map_cv)

# Default to C99
if (NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif ()

# Default to C++14
if (NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif ()

if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(rclcpp REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(grid_map_core REQUIRED)
find_package(OpenCV REQUIRED
        COMPONENTS
        opencv_photo
        )

## Specify additional locations of header files
include_directories(
  include
  include/grid_map_cv
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a cpp library
add_library(${PROJECT_NAME} SHARED
  src/GridMapCvProcessing.cpp
#  src/InpaintFilter.cpp
)
target_compile_definitions(${PROJECT_NAME}
        PRIVATE "MINIMAL_COMPOSITION_DLL")
target_link_libraries(${PROJECT_NAME}
  ${OpenCV_LIBRARIES}
)
ament_target_dependencies(${PROJECT_NAME} rclcpp grid_map_core)

# declare upstreaming libraries
ament_export_dependencies(grid_map_core)
ament_export_interfaces(export_${PROJECT_NAME})
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

#############
## Install ##
#############

# export include directory
install(
        DIRECTORY include/
        DESTINATION include
)

# export lib
install(TARGETS ${PROJECT_NAME}
        EXPORT export_${PROJECT_NAME}
        LIBRARY DESTINATION lib
        ARCHIVE DESTINATION lib
        RUNTIME DESTINATION bin
        INCLUDES DESTINATION include
        )

if (BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif ()

ament_package()
